#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <cmath>

inline float toRad(float deg)
{
	return (M_PI*deg) / 180;
}

int main(int argc, char** argv)
{
	ros::init(argc, argv, "kinect");
	ros::NodeHandle n;

	ros::Rate r(100);

	tf::TransformBroadcaster broadcaster;

	const float roll = -toRad(0);
	const float pitch = 0;
	const float yaw = -toRad(0);

	tf::Quaternion orientation = tf::createQuaternionFromRPY(roll, pitch, yaw);
	tf::Vector3 translation(0, 0, 0);
	while(n.ok())
	{
		broadcaster.sendTransform(
					tf::StampedTransform(tf::Transform(orientation, translation),
						ros::Time::now()+ros::Duration(0.05),"base_link", "camera_link"));

		r.sleep();
	}
}
